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<div class="header">
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<div class="title">marching_cubes.h</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_MARCHING_CUBES_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define PCL_SURFACE_MARCHING_CUBES_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/boost.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/reconstruction.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="comment">/*</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">   * Tables, and functions, derived from Paul Bourke&#39;s Marching Cubes implementation:</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">   * http://paulbourke.net/geometry/polygonise/</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">   * Cube vertex indices:</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">   *   y_dir 4 ________ 5</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">   *         /|       /|</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">   *       /  |     /  |</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment">   *   7 /_______ /    |</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">   *    |     |  |6    |</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment">   *    |    0|__|_____|1 x_dir</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment">   *    |    /   |    /</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">   *    |  /     |  /</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">   z_dir|/_______|/</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">   *   3          2</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment">   */</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> edgeTable[256] = {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    0x0  , 0x109, 0x203, 0x30a, 0x406, 0x50f, 0x605, 0x70c,</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    0x80c, 0x905, 0xa0f, 0xb06, 0xc0a, 0xd03, 0xe09, 0xf00,</div>
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<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    0x99c, 0x895, 0xb9f, 0xa96, 0xd9a, 0xc93, 0xf99, 0xe90,</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    0x230, 0x339, 0x33 , 0x13a, 0x636, 0x73f, 0x435, 0x53c,</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    0xa3c, 0xb35, 0x83f, 0x936, 0xe3a, 0xf33, 0xc39, 0xd30,</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    0x3a0, 0x2a9, 0x1a3, 0xaa , 0x7a6, 0x6af, 0x5a5, 0x4ac,</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    0xbac, 0xaa5, 0x9af, 0x8a6, 0xfaa, 0xea3, 0xda9, 0xca0,</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    0x460, 0x569, 0x663, 0x76a, 0x66 , 0x16f, 0x265, 0x36c,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    0xc6c, 0xd65, 0xe6f, 0xf66, 0x86a, 0x963, 0xa69, 0xb60,</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    0x5f0, 0x4f9, 0x7f3, 0x6fa, 0x1f6, 0xff , 0x3f5, 0x2fc,</div>
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<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    0x15c, 0x55 , 0x35f, 0x256, 0x55a, 0x453, 0x759, 0x650,</div>
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<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  };</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> triTable[256][16] = {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
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<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    {1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    {0, 8, 3, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    {9, 2, 10, 0, 2, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
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<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    {3, 9, 0, 3, 11, 9, 11, 10, 9, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    {9, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    {4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    {4, 3, 0, 7, 3, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    {0, 1, 9, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    {4, 1, 9, 4, 7, 1, 7, 3, 1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    {1, 2, 10, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    {3, 4, 7, 3, 0, 4, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    {9, 2, 10, 9, 0, 2, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    {2, 10, 9, 2, 9, 7, 2, 7, 3, 7, 9, 4, -1, -1, -1, -1},</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    {8, 4, 7, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    {11, 4, 7, 11, 2, 4, 2, 0, 4, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    {9, 0, 1, 8, 4, 7, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    {4, 7, 11, 9, 4, 11, 9, 11, 2, 9, 2, 1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    {3, 10, 1, 3, 11, 10, 7, 8, 4, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    {1, 11, 10, 1, 4, 11, 1, 0, 4, 7, 11, 4, -1, -1, -1, -1},</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    {4, 7, 8, 9, 0, 11, 9, 11, 10, 11, 0, 3, -1, -1, -1, -1},</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    {4, 7, 11, 4, 11, 9, 9, 11, 10, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    {9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    {9, 5, 4, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    {0, 5, 4, 1, 5, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    {8, 5, 4, 8, 3, 5, 3, 1, 5, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    {1, 2, 10, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    {3, 0, 8, 1, 2, 10, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    {5, 2, 10, 5, 4, 2, 4, 0, 2, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    {2, 10, 5, 3, 2, 5, 3, 5, 4, 3, 4, 8, -1, -1, -1, -1},</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    {9, 5, 4, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    {0, 11, 2, 0, 8, 11, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    {0, 5, 4, 0, 1, 5, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    {2, 1, 5, 2, 5, 8, 2, 8, 11, 4, 8, 5, -1, -1, -1, -1},</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    {10, 3, 11, 10, 1, 3, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {4, 9, 5, 0, 8, 1, 8, 10, 1, 8, 11, 10, -1, -1, -1, -1},</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    {5, 4, 0, 5, 0, 11, 5, 11, 10, 11, 0, 3, -1, -1, -1, -1},</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    {5, 4, 8, 5, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    {9, 7, 8, 5, 7, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    {9, 3, 0, 9, 5, 3, 5, 7, 3, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    {0, 7, 8, 0, 1, 7, 1, 5, 7, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    {1, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    {9, 7, 8, 9, 5, 7, 10, 1, 2, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    {10, 1, 2, 9, 5, 0, 5, 3, 0, 5, 7, 3, -1, -1, -1, -1},</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    {8, 0, 2, 8, 2, 5, 8, 5, 7, 10, 5, 2, -1, -1, -1, -1},</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    {2, 10, 5, 2, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    {7, 9, 5, 7, 8, 9, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    {9, 5, 7, 9, 7, 2, 9, 2, 0, 2, 7, 11, -1, -1, -1, -1},</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    {2, 3, 11, 0, 1, 8, 1, 7, 8, 1, 5, 7, -1, -1, -1, -1},</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    {11, 2, 1, 11, 1, 7, 7, 1, 5, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    {9, 5, 8, 8, 5, 7, 10, 1, 3, 10, 3, 11, -1, -1, -1, -1},</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    {5, 7, 0, 5, 0, 9, 7, 11, 0, 1, 0, 10, 11, 10, 0, -1},</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    {11, 10, 0, 11, 0, 3, 10, 5, 0, 8, 0, 7, 5, 7, 0, -1},</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    {11, 10, 5, 7, 11, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    {10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    {0, 8, 3, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    {9, 0, 1, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    {1, 8, 3, 1, 9, 8, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    {1, 6, 5, 2, 6, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    {1, 6, 5, 1, 2, 6, 3, 0, 8, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    {9, 6, 5, 9, 0, 6, 0, 2, 6, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    {5, 9, 8, 5, 8, 2, 5, 2, 6, 3, 2, 8, -1, -1, -1, -1},</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    {2, 3, 11, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    {11, 0, 8, 11, 2, 0, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    {0, 1, 9, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    {5, 10, 6, 1, 9, 2, 9, 11, 2, 9, 8, 11, -1, -1, -1, -1},</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    {6, 3, 11, 6, 5, 3, 5, 1, 3, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    {0, 8, 11, 0, 11, 5, 0, 5, 1, 5, 11, 6, -1, -1, -1, -1},</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    {3, 11, 6, 0, 3, 6, 0, 6, 5, 0, 5, 9, -1, -1, -1, -1},</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    {6, 5, 9, 6, 9, 11, 11, 9, 8, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    {5, 10, 6, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    {4, 3, 0, 4, 7, 3, 6, 5, 10, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    {1, 9, 0, 5, 10, 6, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    {10, 6, 5, 1, 9, 7, 1, 7, 3, 7, 9, 4, -1, -1, -1, -1},</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    {6, 1, 2, 6, 5, 1, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    {1, 2, 5, 5, 2, 6, 3, 0, 4, 3, 4, 7, -1, -1, -1, -1},</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    {8, 4, 7, 9, 0, 5, 0, 6, 5, 0, 2, 6, -1, -1, -1, -1},</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    {7, 3, 9, 7, 9, 4, 3, 2, 9, 5, 9, 6, 2, 6, 9, -1},</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    {3, 11, 2, 7, 8, 4, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    {5, 10, 6, 4, 7, 2, 4, 2, 0, 2, 7, 11, -1, -1, -1, -1},</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    {0, 1, 9, 4, 7, 8, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1},</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    {9, 2, 1, 9, 11, 2, 9, 4, 11, 7, 11, 4, 5, 10, 6, -1},</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    {8, 4, 7, 3, 11, 5, 3, 5, 1, 5, 11, 6, -1, -1, -1, -1},</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    {5, 1, 11, 5, 11, 6, 1, 0, 11, 7, 11, 4, 0, 4, 11, -1},</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    {0, 5, 9, 0, 6, 5, 0, 3, 6, 11, 6, 3, 8, 4, 7, -1},</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    {6, 5, 9, 6, 9, 11, 4, 7, 9, 7, 11, 9, -1, -1, -1, -1},</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    {10, 4, 9, 6, 4, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    {4, 10, 6, 4, 9, 10, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    {10, 0, 1, 10, 6, 0, 6, 4, 0, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    {8, 3, 1, 8, 1, 6, 8, 6, 4, 6, 1, 10, -1, -1, -1, -1},</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    {1, 4, 9, 1, 2, 4, 2, 6, 4, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    {3, 0, 8, 1, 2, 9, 2, 4, 9, 2, 6, 4, -1, -1, -1, -1},</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    {0, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    {8, 3, 2, 8, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    {10, 4, 9, 10, 6, 4, 11, 2, 3, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    {0, 8, 2, 2, 8, 11, 4, 9, 10, 4, 10, 6, -1, -1, -1, -1},</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    {3, 11, 2, 0, 1, 6, 0, 6, 4, 6, 1, 10, -1, -1, -1, -1},</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    {6, 4, 1, 6, 1, 10, 4, 8, 1, 2, 1, 11, 8, 11, 1, -1},</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    {9, 6, 4, 9, 3, 6, 9, 1, 3, 11, 6, 3, -1, -1, -1, -1},</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    {8, 11, 1, 8, 1, 0, 11, 6, 1, 9, 1, 4, 6, 4, 1, -1},</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    {3, 11, 6, 3, 6, 0, 0, 6, 4, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    {6, 4, 8, 11, 6, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    {7, 10, 6, 7, 8, 10, 8, 9, 10, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    {0, 7, 3, 0, 10, 7, 0, 9, 10, 6, 7, 10, -1, -1, -1, -1},</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    {10, 6, 7, 1, 10, 7, 1, 7, 8, 1, 8, 0, -1, -1, -1, -1},</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    {10, 6, 7, 10, 7, 1, 1, 7, 3, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    {1, 2, 6, 1, 6, 8, 1, 8, 9, 8, 6, 7, -1, -1, -1, -1},</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    {2, 6, 9, 2, 9, 1, 6, 7, 9, 0, 9, 3, 7, 3, 9, -1},</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    {7, 8, 0, 7, 0, 6, 6, 0, 2, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    {7, 3, 2, 6, 7, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    {2, 3, 11, 10, 6, 8, 10, 8, 9, 8, 6, 7, -1, -1, -1, -1},</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    {2, 0, 7, 2, 7, 11, 0, 9, 7, 6, 7, 10, 9, 10, 7, -1},</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    {1, 8, 0, 1, 7, 8, 1, 10, 7, 6, 7, 10, 2, 3, 11, -1},</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    {11, 2, 1, 11, 1, 7, 10, 6, 1, 6, 7, 1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    {8, 9, 6, 8, 6, 7, 9, 1, 6, 11, 6, 3, 1, 3, 6, -1},</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    {0, 9, 1, 11, 6, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    {7, 8, 0, 7, 0, 6, 3, 11, 0, 11, 6, 0, -1, -1, -1, -1},</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    {7, 11, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    {7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    {3, 0, 8, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    {0, 1, 9, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    {8, 1, 9, 8, 3, 1, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    {10, 1, 2, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    {1, 2, 10, 3, 0, 8, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    {2, 9, 0, 2, 10, 9, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    {6, 11, 7, 2, 10, 3, 10, 8, 3, 10, 9, 8, -1, -1, -1, -1},</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    {7, 2, 3, 6, 2, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    {7, 0, 8, 7, 6, 0, 6, 2, 0, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    {2, 7, 6, 2, 3, 7, 0, 1, 9, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    {1, 6, 2, 1, 8, 6, 1, 9, 8, 8, 7, 6, -1, -1, -1, -1},</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    {10, 7, 6, 10, 1, 7, 1, 3, 7, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    {10, 7, 6, 1, 7, 10, 1, 8, 7, 1, 0, 8, -1, -1, -1, -1},</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    {0, 3, 7, 0, 7, 10, 0, 10, 9, 6, 10, 7, -1, -1, -1, -1},</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    {7, 6, 10, 7, 10, 8, 8, 10, 9, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    {6, 8, 4, 11, 8, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    {3, 6, 11, 3, 0, 6, 0, 4, 6, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    {8, 6, 11, 8, 4, 6, 9, 0, 1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    {9, 4, 6, 9, 6, 3, 9, 3, 1, 11, 3, 6, -1, -1, -1, -1},</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    {6, 8, 4, 6, 11, 8, 2, 10, 1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    {1, 2, 10, 3, 0, 11, 0, 6, 11, 0, 4, 6, -1, -1, -1, -1},</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    {4, 11, 8, 4, 6, 11, 0, 2, 9, 2, 10, 9, -1, -1, -1, -1},</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    {10, 9, 3, 10, 3, 2, 9, 4, 3, 11, 3, 6, 4, 6, 3, -1},</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    {8, 2, 3, 8, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    {0, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    {1, 9, 0, 2, 3, 4, 2, 4, 6, 4, 3, 8, -1, -1, -1, -1},</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    {1, 9, 4, 1, 4, 2, 2, 4, 6, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    {8, 1, 3, 8, 6, 1, 8, 4, 6, 6, 10, 1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    {10, 1, 0, 10, 0, 6, 6, 0, 4, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    {4, 6, 3, 4, 3, 8, 6, 10, 3, 0, 3, 9, 10, 9, 3, -1},</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    {10, 9, 4, 6, 10, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    {4, 9, 5, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    {0, 8, 3, 4, 9, 5, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    {5, 0, 1, 5, 4, 0, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    {11, 7, 6, 8, 3, 4, 3, 5, 4, 3, 1, 5, -1, -1, -1, -1},</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    {9, 5, 4, 10, 1, 2, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    {6, 11, 7, 1, 2, 10, 0, 8, 3, 4, 9, 5, -1, -1, -1, -1},</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    {7, 6, 11, 5, 4, 10, 4, 2, 10, 4, 0, 2, -1, -1, -1, -1},</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    {3, 4, 8, 3, 5, 4, 3, 2, 5, 10, 5, 2, 11, 7, 6, -1},</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    {7, 2, 3, 7, 6, 2, 5, 4, 9, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    {9, 5, 4, 0, 8, 6, 0, 6, 2, 6, 8, 7, -1, -1, -1, -1},</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    {3, 6, 2, 3, 7, 6, 1, 5, 0, 5, 4, 0, -1, -1, -1, -1},</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    {6, 2, 8, 6, 8, 7, 2, 1, 8, 4, 8, 5, 1, 5, 8, -1},</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    {9, 5, 4, 10, 1, 6, 1, 7, 6, 1, 3, 7, -1, -1, -1, -1},</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    {1, 6, 10, 1, 7, 6, 1, 0, 7, 8, 7, 0, 9, 5, 4, -1},</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    {4, 0, 10, 4, 10, 5, 0, 3, 10, 6, 10, 7, 3, 7, 10, -1},</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    {7, 6, 10, 7, 10, 8, 5, 4, 10, 4, 8, 10, -1, -1, -1, -1},</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    {6, 9, 5, 6, 11, 9, 11, 8, 9, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    {3, 6, 11, 0, 6, 3, 0, 5, 6, 0, 9, 5, -1, -1, -1, -1},</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    {0, 11, 8, 0, 5, 11, 0, 1, 5, 5, 6, 11, -1, -1, -1, -1},</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    {6, 11, 3, 6, 3, 5, 5, 3, 1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    {1, 2, 10, 9, 5, 11, 9, 11, 8, 11, 5, 6, -1, -1, -1, -1},</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    {0, 11, 3, 0, 6, 11, 0, 9, 6, 5, 6, 9, 1, 2, 10, -1},</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    {11, 8, 5, 11, 5, 6, 8, 0, 5, 10, 5, 2, 0, 2, 5, -1},</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    {6, 11, 3, 6, 3, 5, 2, 10, 3, 10, 5, 3, -1, -1, -1, -1},</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    {5, 8, 9, 5, 2, 8, 5, 6, 2, 3, 8, 2, -1, -1, -1, -1},</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    {9, 5, 6, 9, 6, 0, 0, 6, 2, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    {1, 5, 8, 1, 8, 0, 5, 6, 8, 3, 8, 2, 6, 2, 8, -1},</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    {1, 5, 6, 2, 1, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    {1, 3, 6, 1, 6, 10, 3, 8, 6, 5, 6, 9, 8, 9, 6, -1},</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    {10, 1, 0, 10, 0, 6, 9, 5, 0, 5, 6, 0, -1, -1, -1, -1},</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    {0, 3, 8, 5, 6, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    {10, 5, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    {11, 5, 10, 7, 5, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    {11, 5, 10, 11, 7, 5, 8, 3, 0, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    {5, 11, 7, 5, 10, 11, 1, 9, 0, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    {10, 7, 5, 10, 11, 7, 9, 8, 1, 8, 3, 1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    {11, 1, 2, 11, 7, 1, 7, 5, 1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    {0, 8, 3, 1, 2, 7, 1, 7, 5, 7, 2, 11, -1, -1, -1, -1},</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    {9, 7, 5, 9, 2, 7, 9, 0, 2, 2, 11, 7, -1, -1, -1, -1},</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    {7, 5, 2, 7, 2, 11, 5, 9, 2, 3, 2, 8, 9, 8, 2, -1},</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    {2, 5, 10, 2, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    {8, 2, 0, 8, 5, 2, 8, 7, 5, 10, 2, 5, -1, -1, -1, -1},</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    {9, 0, 1, 5, 10, 3, 5, 3, 7, 3, 10, 2, -1, -1, -1, -1},</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    {9, 8, 2, 9, 2, 1, 8, 7, 2, 10, 2, 5, 7, 5, 2, -1},</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    {1, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    {0, 8, 7, 0, 7, 1, 1, 7, 5, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    {9, 0, 3, 9, 3, 5, 5, 3, 7, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    {9, 8, 7, 5, 9, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    {5, 8, 4, 5, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    {5, 0, 4, 5, 11, 0, 5, 10, 11, 11, 3, 0, -1, -1, -1, -1},</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    {0, 1, 9, 8, 4, 10, 8, 10, 11, 10, 4, 5, -1, -1, -1, -1},</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    {10, 11, 4, 10, 4, 5, 11, 3, 4, 9, 4, 1, 3, 1, 4, -1},</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    {2, 5, 1, 2, 8, 5, 2, 11, 8, 4, 5, 8, -1, -1, -1, -1},</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    {0, 4, 11, 0, 11, 3, 4, 5, 11, 2, 11, 1, 5, 1, 11, -1},</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    {0, 2, 5, 0, 5, 9, 2, 11, 5, 4, 5, 8, 11, 8, 5, -1},</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    {9, 4, 5, 2, 11, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    {2, 5, 10, 3, 5, 2, 3, 4, 5, 3, 8, 4, -1, -1, -1, -1},</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    {5, 10, 2, 5, 2, 4, 4, 2, 0, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    {3, 10, 2, 3, 5, 10, 3, 8, 5, 4, 5, 8, 0, 1, 9, -1},</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    {5, 10, 2, 5, 2, 4, 1, 9, 2, 9, 4, 2, -1, -1, -1, -1},</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    {8, 4, 5, 8, 5, 3, 3, 5, 1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    {0, 4, 5, 1, 0, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    {8, 4, 5, 8, 5, 3, 9, 0, 5, 0, 3, 5, -1, -1, -1, -1},</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    {9, 4, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    {4, 11, 7, 4, 9, 11, 9, 10, 11, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    {0, 8, 3, 4, 9, 7, 9, 11, 7, 9, 10, 11, -1, -1, -1, -1},</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    {1, 10, 11, 1, 11, 4, 1, 4, 0, 7, 4, 11, -1, -1, -1, -1},</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    {3, 1, 4, 3, 4, 8, 1, 10, 4, 7, 4, 11, 10, 11, 4, -1},</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    {4, 11, 7, 9, 11, 4, 9, 2, 11, 9, 1, 2, -1, -1, -1, -1},</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    {9, 7, 4, 9, 11, 7, 9, 1, 11, 2, 11, 1, 0, 8, 3, -1},</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    {11, 7, 4, 11, 4, 2, 2, 4, 0, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    {11, 7, 4, 11, 4, 2, 8, 3, 4, 3, 2, 4, -1, -1, -1, -1},</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    {2, 9, 10, 2, 7, 9, 2, 3, 7, 7, 4, 9, -1, -1, -1, -1},</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    {9, 10, 7, 9, 7, 4, 10, 2, 7, 8, 7, 0, 2, 0, 7, -1},</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    {3, 7, 10, 3, 10, 2, 7, 4, 10, 1, 10, 0, 4, 0, 10, -1},</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    {1, 10, 2, 8, 7, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    {4, 9, 1, 4, 1, 7, 7, 1, 3, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    {4, 9, 1, 4, 1, 7, 0, 8, 1, 8, 7, 1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    {4, 0, 3, 7, 4, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    {4, 8, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    {9, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    {3, 0, 9, 3, 9, 11, 11, 9, 10, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    {0, 1, 10, 0, 10, 8, 8, 10, 11, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    {3, 1, 10, 11, 3, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    {1, 2, 11, 1, 11, 9, 9, 11, 8, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    {3, 0, 9, 3, 9, 11, 1, 2, 9, 2, 11, 9, -1, -1, -1, -1},</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    {0, 2, 11, 8, 0, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    {3, 2, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    {2, 3, 8, 2, 8, 10, 10, 8, 9, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    {9, 10, 2, 0, 9, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    {2, 3, 8, 2, 8, 10, 0, 1, 8, 1, 10, 8, -1, -1, -1, -1},</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    {1, 10, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    {1, 3, 8, 9, 1, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    {0, 9, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    {0, 3, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}</div>
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<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00363"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html">  363</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_marching_cubes.html">MarchingCubes</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_surface_reconstruction.html">SurfaceReconstruction</a>&lt;PointNT&gt;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  {</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;MarchingCubes&lt;PointNT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const MarchingCubes&lt;PointNT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_surface_reconstruction.html">SurfaceReconstruction&lt;PointNT&gt;::input_</a>;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_surface_reconstruction.html">SurfaceReconstruction&lt;PointNT&gt;::tree_</a>;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointNT&gt;::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_kd_tree.html">pcl::KdTree&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_kd_tree.html">KdTree</a>;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::KdTree&lt;PointNT&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#a643538b2ba01617f8d93ca6852182529">MarchingCubes</a> ();</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_marching_cubes.html#afdfe5735007c26f7395baf477fab59b7">~MarchingCubes</a> ();</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00389"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a64dba57c71a3c123f7d6038d0fdfa4eb">  389</a></span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#a64dba57c71a3c123f7d6038d0fdfa4eb">setIsoLevel</a> (<span class="keywordtype">float</span> iso_level)</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      { <a class="code" href="classpcl_1_1_marching_cubes.html#a68c8035d359bd6f6716be4b62e199c5c">iso_level_</a> = iso_level; }</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00394"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#aa9d9ebf25d347e3c4f209be645b52c21">  394</a></span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#aa9d9ebf25d347e3c4f209be645b52c21">getIsoLevel</a> ()</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;      { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_marching_cubes.html#a68c8035d359bd6f6716be4b62e199c5c">iso_level_</a>; }</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00403"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#aa525f9b2f018d8b0011c943eefb9dcee">  403</a></span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#aa525f9b2f018d8b0011c943eefb9dcee">setGridResolution</a> (<span class="keywordtype">int</span> res_x, <span class="keywordtype">int</span> res_y, <span class="keywordtype">int</span> res_z)</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      { <a class="code" href="classpcl_1_1_marching_cubes.html#a206a6bc55b35bc64c27179c1a303e4d1">res_x_</a> = res_x; res_y_ = res_y; res_z_ = res_z; }</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00413"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#aea042206805d3f6a03bfbbef53ab0e6d">  413</a></span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#aea042206805d3f6a03bfbbef53ab0e6d">getGridResolution</a> (<span class="keywordtype">int</span> &amp;res_x, <span class="keywordtype">int</span> &amp;res_y, <span class="keywordtype">int</span> &amp;res_z)</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      { res_x = <a class="code" href="classpcl_1_1_marching_cubes.html#a206a6bc55b35bc64c27179c1a303e4d1">res_x_</a>; res_y = res_y_; res_z = res_z_; }</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00423"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a4c84675b01ac7e3dfd1282d2ff6bf822">  423</a></span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#a4c84675b01ac7e3dfd1282d2ff6bf822">setPercentageExtendGrid</a> (<span class="keywordtype">float</span> percentage)</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      { <a class="code" href="classpcl_1_1_marching_cubes.html#a939a63ca1f45d1845526672b2de31b69">percentage_extend_grid_</a> = percentage; }</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00430"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a1763c8a089cd10977e58f389291757f6">  430</a></span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#a1763c8a089cd10977e58f389291757f6">getPercentageExtendGrid</a> ()</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_marching_cubes.html#a939a63ca1f45d1845526672b2de31b69">percentage_extend_grid_</a>; }</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00435"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a1fe3ace141259294aa47489cf0d8a83c">  435</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_marching_cubes.html#a1fe3ace141259294aa47489cf0d8a83c">grid_</a>;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a206a6bc55b35bc64c27179c1a303e4d1">  438</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_marching_cubes.html#a206a6bc55b35bc64c27179c1a303e4d1">res_x_</a>, res_y_, res_z_;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#abd84544d5740431753c9ce51d22be89c">  441</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_marching_cubes.html#abd84544d5740431753c9ce51d22be89c">min_p_</a>, max_p_;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a939a63ca1f45d1845526672b2de31b69">  445</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_marching_cubes.html#a939a63ca1f45d1845526672b2de31b69">percentage_extend_grid_</a>;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a68c8035d359bd6f6716be4b62e199c5c">  448</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_marching_cubes.html#a68c8035d359bd6f6716be4b62e199c5c">iso_level_</a>;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00452"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#a5f7430b8dfd6eecd480525959eb6c669">  452</a></span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#a5f7430b8dfd6eecd480525959eb6c669">voxelizeData</a> () = 0;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#aafe0e216b2da0d7645f7d1ba5fff8b2c">interpolateEdge</a> (Eigen::Vector3f &amp;p1, Eigen::Vector3f &amp;p2, <span class="keywordtype">float</span> val_p1, <span class="keywordtype">float</span> val_p2, Eigen::Vector3f &amp;output);</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#a6931544f9b8fb7acc41119134dd57f9a">createSurface</a> (std::vector&lt;float&gt; &amp;leaf_node,</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;                     Eigen::Vector3i &amp;index_3d,</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;                     <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;cloud);</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#a9be29d409a9f84b6b5c15dde60ade1a0">getBoundingBox</a> ();</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#a869ec9eeb1ec0543ab3ea67cb27fbfc9">getGridValue</a> (Eigen::Vector3i pos);</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      <a class="code" href="classpcl_1_1_marching_cubes.html#aee54b8224b31fad1671cec5c276d35cd">getNeighborList1D</a> (std::vector&lt;float&gt; &amp;leaf,</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;                         Eigen::Vector3i &amp;index3d);</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes.html#ac8444e62030bb73343ebcb74dfe1ddeb">  495</a></span>&#160;      std::string <a class="code" href="classpcl_1_1_marching_cubes.html#ac8444e62030bb73343ebcb74dfe1ddeb">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="stringliteral">&quot;MarchingCubes&quot;</span>); }</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;       <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;       <a class="code" href="classpcl_1_1_marching_cubes.html#a8f9be8dba860549426fe3fbac21c453c">performReconstruction</a> (<a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;output);</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;       <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;       <a class="code" href="classpcl_1_1_marching_cubes.html#a8f9be8dba860549426fe3fbac21c453c">performReconstruction</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;points,</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;                              std::vector&lt;pcl::Vertices&gt; &amp;polygons);</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  };</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;}</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160; </div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/impl/marching_cubes.hpp&gt;</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// PCL_SURFACE_MARCHING_CUBES_H_</span></div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1_kd_tree.html">pcl::KdTree</a></div><div class="ttdoc">KdTree represents the base spatial locator class for kd-tree implementations.</div><div class="ttdef"><b>Definition:</b> kdtree.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html">pcl::MarchingCubes</a></div><div class="ttdoc">The marching cubes surface reconstruction algorithm. This is an abstract class that takes a grid and ...</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:364</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a1763c8a089cd10977e58f389291757f6"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a1763c8a089cd10977e58f389291757f6">pcl::MarchingCubes::getPercentageExtendGrid</a></div><div class="ttdeci">float getPercentageExtendGrid()</div><div class="ttdoc">Method that gets the parameter that defines how much free space should be left inside the grid betwee...</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:430</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a1fe3ace141259294aa47489cf0d8a83c"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a1fe3ace141259294aa47489cf0d8a83c">pcl::MarchingCubes::grid_</a></div><div class="ttdeci">std::vector&lt; float &gt; grid_</div><div class="ttdoc">The data structure storing the 3D grid</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:435</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a206a6bc55b35bc64c27179c1a303e4d1"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a206a6bc55b35bc64c27179c1a303e4d1">pcl::MarchingCubes::res_x_</a></div><div class="ttdeci">int res_x_</div><div class="ttdoc">The grid resolution</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:438</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a4c84675b01ac7e3dfd1282d2ff6bf822"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a4c84675b01ac7e3dfd1282d2ff6bf822">pcl::MarchingCubes::setPercentageExtendGrid</a></div><div class="ttdeci">void setPercentageExtendGrid(float percentage)</div><div class="ttdoc">Method that sets the parameter that defines how much free space should be left inside the grid betwee...</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a5f7430b8dfd6eecd480525959eb6c669"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a5f7430b8dfd6eecd480525959eb6c669">pcl::MarchingCubes::voxelizeData</a></div><div class="ttdeci">virtual void voxelizeData()=0</div><div class="ttdoc">Convert the point cloud into voxel data.</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a643538b2ba01617f8d93ca6852182529"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a643538b2ba01617f8d93ca6852182529">pcl::MarchingCubes::MarchingCubes</a></div><div class="ttdeci">MarchingCubes()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a64dba57c71a3c123f7d6038d0fdfa4eb"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a64dba57c71a3c123f7d6038d0fdfa4eb">pcl::MarchingCubes::setIsoLevel</a></div><div class="ttdeci">void setIsoLevel(float iso_level)</div><div class="ttdoc">Method that sets the iso level of the surface to be extracted.</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:389</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a68c8035d359bd6f6716be4b62e199c5c"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a68c8035d359bd6f6716be4b62e199c5c">pcl::MarchingCubes::iso_level_</a></div><div class="ttdeci">float iso_level_</div><div class="ttdoc">The iso level to be extracted.</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:448</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a6931544f9b8fb7acc41119134dd57f9a"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a6931544f9b8fb7acc41119134dd57f9a">pcl::MarchingCubes::createSurface</a></div><div class="ttdeci">void createSurface(std::vector&lt; float &gt; &amp;leaf_node, Eigen::Vector3i &amp;index_3d, pcl::PointCloud&lt; PointNT &gt; &amp;cloud)</div><div class="ttdoc">Calculate out the corresponding polygons in the leaf node</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:100</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a869ec9eeb1ec0543ab3ea67cb27fbfc9"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a869ec9eeb1ec0543ab3ea67cb27fbfc9">pcl::MarchingCubes::getGridValue</a></div><div class="ttdeci">virtual float getGridValue(Eigen::Vector3i pos)</div><div class="ttdoc">Method that returns the scalar value at the given grid position.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:209</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a8f9be8dba860549426fe3fbac21c453c"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a8f9be8dba860549426fe3fbac21c453c">pcl::MarchingCubes::performReconstruction</a></div><div class="ttdeci">virtual void performReconstruction(pcl::PolygonMesh &amp;output)</div><div class="ttdoc">Extract the surface.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:225</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a939a63ca1f45d1845526672b2de31b69"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a939a63ca1f45d1845526672b2de31b69">pcl::MarchingCubes::percentage_extend_grid_</a></div><div class="ttdeci">float percentage_extend_grid_</div><div class="ttdoc">Parameter that defines how much free space should be left inside the grid between the bounding box of...</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:445</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_a9be29d409a9f84b6b5c15dde60ade1a0"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#a9be29d409a9f84b6b5c15dde60ade1a0">pcl::MarchingCubes::getBoundingBox</a></div><div class="ttdeci">void getBoundingBox()</div><div class="ttdoc">Get the bounding box for the input data points.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_aa525f9b2f018d8b0011c943eefb9dcee"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#aa525f9b2f018d8b0011c943eefb9dcee">pcl::MarchingCubes::setGridResolution</a></div><div class="ttdeci">void setGridResolution(int res_x, int res_y, int res_z)</div><div class="ttdoc">Method that sets the marching cubes grid resolution.</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:403</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_aa9d9ebf25d347e3c4f209be645b52c21"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#aa9d9ebf25d347e3c4f209be645b52c21">pcl::MarchingCubes::getIsoLevel</a></div><div class="ttdeci">float getIsoLevel()</div><div class="ttdoc">Method that returns the iso level of the surface to be extracted.</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:394</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_aafe0e216b2da0d7645f7d1ba5fff8b2c"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#aafe0e216b2da0d7645f7d1ba5fff8b2c">pcl::MarchingCubes::interpolateEdge</a></div><div class="ttdeci">void interpolateEdge(Eigen::Vector3f &amp;p1, Eigen::Vector3f &amp;p2, float val_p1, float val_p2, Eigen::Vector3f &amp;output)</div><div class="ttdoc">Interpolate along the voxel edge.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:87</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_abd84544d5740431753c9ce51d22be89c"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#abd84544d5740431753c9ce51d22be89c">pcl::MarchingCubes::min_p_</a></div><div class="ttdeci">Eigen::Vector4f min_p_</div><div class="ttdoc">Min and max data points.</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:441</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_ac8444e62030bb73343ebcb74dfe1ddeb"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#ac8444e62030bb73343ebcb74dfe1ddeb">pcl::MarchingCubes::getClassName</a></div><div class="ttdeci">std::string getClassName() const</div><div class="ttdoc">Class get name method.</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:495</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_aea042206805d3f6a03bfbbef53ab0e6d"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#aea042206805d3f6a03bfbbef53ab0e6d">pcl::MarchingCubes::getGridResolution</a></div><div class="ttdeci">void getGridResolution(int &amp;res_x, int &amp;res_y, int &amp;res_z)</div><div class="ttdoc">Method to get the marching cubes grid resolution.</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_aee54b8224b31fad1671cec5c276d35cd"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#aee54b8224b31fad1671cec5c276d35cd">pcl::MarchingCubes::getNeighborList1D</a></div><div class="ttdeci">void getNeighborList1D(std::vector&lt; float &gt; &amp;leaf, Eigen::Vector3i &amp;index3d)</div><div class="ttdoc">Method that returns the scalar values of the neighbors of a given 3D position in the grid.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:191</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html_afdfe5735007c26f7395baf477fab59b7"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html#afdfe5735007c26f7395baf477fab59b7">pcl::MarchingCubes::~MarchingCubes</a></div><div class="ttdeci">virtual ~MarchingCubes()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> marching_cubes.hpp:54</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointNT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_surface_reconstruction_html"><div class="ttname"><a href="classpcl_1_1_surface_reconstruction.html">pcl::SurfaceReconstruction</a></div><div class="ttdoc">SurfaceReconstruction represents a base surface reconstruction class. All surface reconstruction meth...</div><div class="ttdef"><b>Definition:</b> reconstruction.h:120</div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
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